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A soft crawling adsorption robot

A robot and software technology, applied in motor vehicles, transportation and packaging, etc., can solve the problems of four-legged software robots difficult to achieve continuous crawling forward, bonding and falling off, and inability to effectively control inflation and deflation.

Active Publication Date: 2021-09-10
SHANGHAI JIAOTONG UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] However, the pneumatic network and bottom layer of this quadruped soft robot are made of two different materials, and the incompatibility of the two materials will cause the problem of bond detachment
At the same time, the top layer is an integrated structure, which is not easy to adjust the air pressure to make the limbs achieve large bending deformation, so it is difficult to adjust the posture and coordinate the movement
Moreover, due to the concentration of multiple air inlets at the tail, there is a possibility of air leakage at the tail, and the inflation and deflation cannot be effectively controlled, which makes it difficult for the quadruped soft robot to continuously crawl forward.
In addition, the quadruped soft robot realizes a single function, and cannot realize the purpose of manipulating objects while crawling.

Method used

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  • A soft crawling adsorption robot
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Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0057] Embodiment 1 A soft crawling adsorption robot

[0058] A kind of soft crawling adsorption robot of the present invention comprises crawling limb 100 and crawling base 200 ( figure 1 ), both of which are made of silicone. Reptiles 100( figure 2 ) including the pneumatic network 110 ( image 3 ) and bottom layer 120 ( Figure 4 ), through the adhesive bonding of the silicone material itself ( Figure 5 ).

[0059] like image 3 As shown, the overall appearance of the pneumatic network 110 is comb-shaped, and is composed of ten comb units arranged in parallel. Wherein, the comb unit is hollow, the comb unit is partially connected with the unit, and there is a groove in the middle of the bottom of the connection. Figure 7 is a bottom view of the structure of the pneumatic network 110, Figure 8 is a front view of the construction of the pneumatic network 110, Figure 9 is the pneumatic network 110 at Figure 7 and Figure 8 The cross-section at A-A in the middl...

Embodiment 2

[0062] Embodiment 2 The making of soft crawling adsorption robot

[0063] (1) Prepare emulsion silica gel

[0064] Emulsion silica gel (Dragon Components A and B of Silicones 30) are mixed and stirred evenly in a ratio of 1:1, prepared into a viscous shape, put into a vacuum machine, and the air bubbles are removed to form a transparent emulsion, which is ready for use.

[0065] (2) Making the pneumatic network of reptile limbs

[0066] According to the shape, size and structure of the crawler limb pneumatic network 110, the bottom mold of the crawler limb pneumatic network 110 is designed and manufactured ( Figure 13 ) and peripheral mold ( Figure 14 ). The above two parts of the mold are assembled together to form the overall structure of the pneumatic network 110 mold ( Figure 15 ). Pour the prepared latex silica gel into the Figure 15 In the mold shown, let stand for 12 to 16 hours. After the emulsion-like silica gel is dried and cured, it is demoulded to form...

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PUM

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Abstract

The invention discloses a soft crawling adsorption robot, which relates to the field of soft robots, and includes a crawling limb and a crawling base; wherein, the crawling limb includes a pneumatic network and a bottom layer; the crawling base includes a head, a base and a bottom layer of the crawling limb; The pneumatic network is connected to the bottom layer; the head and the bottom layer of the reptile limbs are respectively connected to the abutment; the reptile limbs are connected to the bottom layer of the reptile limbs. The soft robot of the present invention is made of the same material, which avoids the problem of bonding and falling off caused by the incompatibility of the two materials; the crawling limbs are made separately and connected to the abutment respectively, and can be controlled independently, making crawling more flexible , maintenance is more convenient; the added head enables the robot to absorb and carry objects while crawling.

Description

technical field [0001] The invention relates to the field of soft robots, in particular to a soft crawling adsorption robot. Background technique [0002] Soft robot is a new type of continuum bionic robot made of soft materials. Existing quadruped soft-bodied crawling robots can realize the functions of simple crawling and traversing obstacles. In 2011, the Proceedings of the National Academy of Sciences of the United States reported a quadruped soft robot (multigait soft robot), which was prepared from two different elastomeric polymers. Among them, the pneumatic network (pneu-net, PN) is used as the top layer, which is made of stretchable elastomeric polymer; the bottom layer is made of relatively non-stretchable elastomeric polymer. The pneumatic network and the bottom layer are bonded according to the corresponding positional relationship to form an integrated structure, that is, a quadruped soft robot. Insert five tracheal tubes into the tail of the soft robot throu...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B62D57/02
Inventor 徐齐平刘锦阳
Owner SHANGHAI JIAOTONG UNIV
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